update loadTree and graphinit

Author: dehann

src/CanonicalGraphExamples.jl

@@ -10,25 +10,25 @@ Canonical example from literature, Kaess, et al.: ISAM2, IJRR, 2011.
 Notes
 - Paper variable ordering: p = [:l1;:l2;:x1;:x2;:x3]
 """
-function loadCanonicalFG_Kaess()
+function loadCanonicalFG_Kaess(;graphinit::Bool=false)
   fg = initfg()
 
   addVariable!(fg,:x1, ContinuousScalar)
-  addFactor!(fg, [:x1;], Prior(Normal()))
+  addFactor!(fg, [:x1;], Prior(Normal()), autoinit=graphinit)
 
 
   addVariable!(fg,:x2, ContinuousScalar)
-  addFactor!(fg,[:x1, :x2], LinearConditional(Normal()))
+  addFactor!(fg,[:x1, :x2], LinearConditional(Normal()), autoinit=graphinit)
 
   addVariable!(fg, :x3, ContinuousScalar)
-  addFactor!(fg,[:x2,:x3],LinearConditional(Normal()))
+  addFactor!(fg,[:x2,:x3],LinearConditional(Normal()), autoinit=graphinit)
 
   addVariable!(fg, :l1, ContinuousScalar)
-  addFactor!(fg, [:x1,:l1], LinearConditional(Normal()) )
-  addFactor!(fg, [:x2,:l1], LinearConditional(Normal()) )
+  addFactor!(fg, [:x1,:l1], LinearConditional(Normal()) , autoinit=graphinit)
+  addFactor!(fg, [:x2,:l1], LinearConditional(Normal()) , autoinit=graphinit)
 
   addVariable!(fg, :l2, ContinuousScalar)
-  addFactor!(fg, [:x3,:l2], LinearConditional(Normal()))
+  addFactor!(fg, [:x3,:l2], LinearConditional(Normal()), autoinit=graphinit)
 
   return fg
 end
@@ -42,7 +42,7 @@ Canonical example introduced by Borglab.
 Notes
 - Known variable ordering: p = [:x1; :l3; :l1; :x5; :x2; :l2; :x4; :x3]
 """
-function loadCanonicalFG_TestSymbolic()
+function loadCanonicalFG_TestSymbolic(;graphinit::Bool=false)
   fg = initfg()
 
   addVariable!(fg, :x1, ContinuousScalar)
@@ -54,16 +54,16 @@ function loadCanonicalFG_TestSymbolic()
   addVariable!(fg, :l2, ContinuousScalar)
   addVariable!(fg, :l3, ContinuousScalar)
 
-  addFactor!(fg, [:x1;:l1], LinearConditional(Normal()))
-  addFactor!(fg, [:x1;:x2], LinearConditional(Normal()))
-  addFactor!(fg, [:x2;:l1], LinearConditional(Normal()))
-  addFactor!(fg, [:x2;:x3], LinearConditional(Normal()))
-  addFactor!(fg, [:x3;:x4], LinearConditional(Normal()))
-  addFactor!(fg, [:x4;:l2], LinearConditional(Normal()))
-  addFactor!(fg, [:x4;:x5], LinearConditional(Normal()))
-  addFactor!(fg, [:l2;:x5], LinearConditional(Normal()))
-  addFactor!(fg, [:x4;:l3], LinearConditional(Normal()))
-  addFactor!(fg, [:x5;:l3], LinearConditional(Normal()))
+  addFactor!(fg, [:x1;:l1], LinearConditional(Normal()), autoinit=graphinit)
+  addFactor!(fg, [:x1;:x2], LinearConditional(Normal()), autoinit=graphinit)
+  addFactor!(fg, [:x2;:l1], LinearConditional(Normal()), autoinit=graphinit)
+  addFactor!(fg, [:x2;:x3], LinearConditional(Normal()), autoinit=graphinit)
+  addFactor!(fg, [:x3;:x4], LinearConditional(Normal()), autoinit=graphinit)
+  addFactor!(fg, [:x4;:l2], LinearConditional(Normal()), autoinit=graphinit)
+  addFactor!(fg, [:x4;:x5], LinearConditional(Normal()), autoinit=graphinit)
+  addFactor!(fg, [:l2;:x5], LinearConditional(Normal()), autoinit=graphinit)
+  addFactor!(fg, [:x4;:l3], LinearConditional(Normal()), autoinit=graphinit)
+  addFactor!(fg, [:x5;:l3], LinearConditional(Normal()), autoinit=graphinit)
 
   return fg
 end
@@ -78,7 +78,7 @@ Canonical example introduced originally as Caesar Hex Example.
 Notes
 - Paper variable ordering: p = [:x0;:x2;:x4;:x6;:x1;:l1;:x5;:x3;]
 """
-function loadCanonicalFG_CaesarRing1D()
+function loadCanonicalFG_CaesarRing1D(;graphinit::Bool=false)
 
   fg = initfg()
 
@@ -90,17 +90,17 @@ function loadCanonicalFG_CaesarRing1D()
   addVariable!(fg, :x5, ContinuousScalar)
   addVariable!(fg, :x6, ContinuousScalar)
 
-  addFactor!(fg, [:x0], Prior(Normal()))
-  addFactor!(fg, [:x0;:x1], LinearConditional(Normal()))
-  addFactor!(fg, [:x1;:x2], LinearConditional(Normal()))
-  addFactor!(fg, [:x2;:x3], LinearConditional(Normal()))
-  addFactor!(fg, [:x3;:x4], LinearConditional(Normal()))
-  addFactor!(fg, [:x4;:x5], LinearConditional(Normal()))
-  addFactor!(fg, [:x5;:x6], LinearConditional(Normal()))
+  addFactor!(fg, [:x0], Prior(Normal()), autoinit=graphinit)
+  addFactor!(fg, [:x0;:x1], LinearConditional(Normal()), autoinit=graphinit)
+  addFactor!(fg, [:x1;:x2], LinearConditional(Normal()), autoinit=graphinit)
+  addFactor!(fg, [:x2;:x3], LinearConditional(Normal()), autoinit=graphinit)
+  addFactor!(fg, [:x3;:x4], LinearConditional(Normal()), autoinit=graphinit)
+  addFactor!(fg, [:x4;:x5], LinearConditional(Normal()), autoinit=graphinit)
+  addFactor!(fg, [:x5;:x6], LinearConditional(Normal()), autoinit=graphinit)
 
   addVariable!(fg, :l1, ContinuousScalar)
-  addFactor!(fg, [:x0;:l1], LinearConditional(Normal()))
-  addFactor!(fg, [:x6;:l1], LinearConditional(Normal()))
+  addFactor!(fg, [:x0;:l1], LinearConditional(Normal()), autoinit=graphinit)
+  addFactor!(fg, [:x6;:l1], LinearConditional(Normal()), autoinit=graphinit)
 
   return fg
 end

src/JunctionTree.jl

@@ -1533,5 +1533,13 @@ IIF.saveTree, DFG.saveDFG, DFG.loadDFG, JLD2.@save, JLD2.@load
 function loadTree(filepath=joinpath("/tmp","caesar","savetree.jld2"))
   data = @load filepath savetree
 
-  @warn "loadTree implementation not complete yet, got data=$data"
+  # convert back to a type that which could not be serialized by JLD2
+  for i in 1:length(savetree.cliques)
+    if  savetree.cliques[i].attributes["data"] isa PackedBayesTreeNodeData
+      savetree.cliques[i].attributes["data"] = convert(BayesTreeNodeData, savetree.cliques[i].attributes["data"])
+    end
+  end
+
+  # return loaded and converted tree
+  return savetree
 end